Motor PID

module:

navground.core.behavior_modulations

class MotorPIDModulation

A modulation that control motor torques using a PID.

Requires that the behavior has a DynamicTwoWheelsDifferentialDriveKinematics kinematics.

Registered properties:

• k_p (see k_p, default 1)

• k_d (see k_d, default 0)

• k_i (see k_i, default 0)

__init__(k_p: float = 1, k_i: float = 0, k_d: float = 0) → None

Construct a new instance

Parameters:

• k_p – The P factor

• k_i – The I factor

• k_d – The D factor

property k_d

Type:

float

The d factor.

property k_i

Type:

float

The p factor.

property k_p

Type:

float

The p factor.